PURPOSE: To make it possible to detect three-dimensional positions of a point automatically even through the position of an object is changed, by obtaining the coordinate values on the object by visual sensors and distance sensors, and converting said values into reference coordinate values by a specified converting expression.
CONSTITUTION: Necessary data for computation of a expression, which converts the coordinate values of a sensor coordinate system into the coordinate system of a reference coordinate system, is inputted into a data memory 102 of a control device in advance. With respect to the coordinates of a point on an object, whose position is changed, the X and Y coordinate values are obtained by visual sensors VS1WVS3, and the Z coordinate value is obtained by ultrasonic wave distance sensors USS1WUSS3. The values are stored in an RAM107. A processor 103 converts the sensor coordinate values into the coordinate values of the reference coordinate system by using the converting expression. The values are stored in the memory 102. By using said data, a robot is operated, and welding is performed on the new point. Therefore, the three-dimensional coordinates of the new point can be obtained automatically.
SUGIMURA HIROSHI
TERAWAKI BUNICHI
| JPS54103370A | 1979-08-14 |
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